Apparatus for controlling the speed and spacing of vehicles

ABSTRACT

The fail-safe system for controlling separate vehicles running on a track, path or roadway permits both high vehicle speeds and high traffic densities. The system includes devices for measuring the speed of a lead vehicle and also the spacing between vehicles. A control system is provided which develops a control signal proportional to the square root of the sum of a signal proportional to the vehicle spacing and a signal proportional to the square of the lead vehicle speed. Alternatively, the control system may provide a control signal proportional to the sum of signals proportional to the lead vehicle speed and to the square root of the vehicle spacing. These control signals are used to regulate the speed and following distance of vehicles behind the lead vehicle. Various other alternative embodiments of the invention are disclosed, as are several novel features such as an emergency braking system.

Asano et al.

1 APPARATUS FOR CONTROLLING THE SPEED AND SPACING OF VEHICLES [75] Inventors: Tetsumasa Asano; Hiroshi Takamiya; Yoshinobu Morimoto, all of Himeji, Japan [73] Assignee: Mitsubishi Denki Kabushiki Kaisha,

Tokyo, Japan [22] Filed: Sept. 25, 1972 [2]] Appl. N0.: 291,621

[30] Foreign Application Priority Data Sept. 23, 1971 Japan 46-74309 Oct. 26, 1971 Japan 46-84925 .Oct. 28, 1971 Japan 46-85857 Dec. 1, 1971 Japan 46-96956 Oct. 23, 1971 Japan 46-84201 Oct. 26, 1971 Japan" 46-84923 Oct. 27, 1971 Japan 46-85290 Oct. 27, 1971 Japan 46-85289 Oct. 29, 1971 Japan 46-86127 Oct. 29, 1971 Japan 46-86126 [52] U.S. Cl 180/98, 246/467 D, 318/587, 340/33 [51] Int. Cl B60t 7/18 [58] Field of Search 180/98; 318/587; 340/32, 340/33; 246/167 D [56] References Cited UNITED STATES PATENTS 3,078,944 2/1963 Gray 180/98 [451 Sept. 17, 1974 Primary Examiner-Robert B. Reeves Assistant Examiner-Thomas E. Kocovsky Attorney, Agent, or FirmObl0n, Fisher, Spivak. McC1el1and & Maier [5 7 ABSTRACT The fail-safe system for controlling separate vehicles running on a track, path or roadway permits both high vehicle speeds and high traffic densities. The system includes devices for measuring the speed of a lead vehicle and also the spacing between vehicles. A control system is provided which develops a control signal proportional to the square root of the sum of a signal proportional to the vehicle spacing and a signal proportional to the square of the lead vehicle speed. Alternatively, the control system may provide a control signal proportional to the sum of signals proportional to the lead vehicle speed and to the square root of the vehicle spacing. These control signals are used to regulate the speed and following distance of vehicles behind the lead vehicle. Various other alternative embodiments of the invention are disclosed, as are several novel features such as an emergency braking systern.

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APPARATUS FOR CONTROLLING THE SPEED AND SPACING OF VEHICLES BACKGROUND OF THE INVENTION 1. Field Of The Invention This invention relates to an apparatus for controlling vehicles, and more particularly to an apparatus for controlling speed and separation among a plurality of vehicles. The apparatus is particularly suitable for controlling relatively small vehicles in a crowded environment.

2. Description Of The Prior Art Heretofore systems and apparatuses for controlling vehicle spacing and speed in relatively crowded environments have been disclosed. However in conventional systems of this type, the vehicle speed is controlled depending only upon the distance to a forward orlead vehicle. In such cases disadvantages arise in that high speed movement cannot be attained without a large space or distance between vehicles. Accordingly, the number of vehicles passing a particular point in a speficied time, i.e., the traffic density, decreases as a function of increasing vehicle speed.

SUMMARY OF THE INVENTION Accordingly, one object of this invention is to provide a novel apparatus for controlling vehicles wherein both high vehicle speeds and high traffic densities are maintained.

Another object of this invention is to provide a novel apparatus for controlling a plurality of separate vehicles which allows high vehicle speeds with minimal vehicle spacing.

A still further object of this invention is the provision of a novel apparatus for controlling vehicles which permits high vehicle speeds and traffic densities and yet is extremely safe and reliable.

Briefly, these and other objects and features of this invention are attained by providing an apparatus for controlling vehicles which includes an electronic device for measuring the distance between a forward or lead vehicle and a following vehicle, and an electronic means for measuring the speed of the forward vehicle. A control system is also included for providing the square root of the sum of a value proportional to the vehicle spacing and a value proportional to the square of the speed of the forward vehicle. A speed controller is included for regulating a vehicle driving device or motor so as to set the speed of the following vehicle at an appropriate level corresponding to the output of the control system. Thus, the speeds of the forward vehicle and the following vehicle are regulated in accordance with the following equation, and the distance between the vehicles is maintained at a value corresponding to the differential distance required for damping or stopping both vehicles:

V a V B(LL wherein V represents aspeed of the following vehicle (m/sec), V represents a speed of the forward vehicle (m/sec),

L represents a distance or spacing between vehicles L represents a minimum safe distance (m),

a represents a constant a l) and B represents a constant.

As it is clear from the above equation, when both of the vehicles are stopped and V V 0, the vehicle spacing L equals the minimum safe distance L,,. When both the vehicles run at an equal speed V (m/sec), the following equation applies:

2 /1 Ci (LP-L The vehicle spacing at equal vehicle speed is longer than the value corresponding to the differential distance for damping both vehicles which is proportion to the speed of the vehicles. The constants a and B are determined by the above equation.

In practical operation, the speed reduction of the following vehicles is started after a control response delay time starting when the speed of the forward vehicle is reduced. A running or traveling distance proportional to the speed of the following vehicle is then determined. Accordingly, the speed of the following car is decreased based on this distance. An appropriate decrease in speed can be attained by simple calibration of the control circuit.

BRIEF DESCRIPTION OF THE DRAWINGS A more complete'appreciation of the invention and many of the attendant advantages thereof will be readily obtained as the same becomes better understood by reference to the following detailed description when considered in connection with the accompanying drawings, wherein:

FIG. 1 is a schematic diagram of one embodiment of the apparatus for controlling vehicles according to this invention; 7

FIG. 2 is a schematic diagram of a control system employing the apparatus of FIG. 1;

FIG. 3 is a graphical diagram illustrating the operating characteristics of the control system of FIG. 2;

FIGS. 4, 5, 6 and 7 are respectively schematic diagrams of other embodiments of the apparatus according to this invention;

FIG. 8 is a schematic diagram of a control system employing the apparatus of FIG. 7;

FIG. 9 is a graphical diagram illustrating the operating characteristics of the control system of FIG. 8;

FIGS. 10, ll, 12 and 13 are respectively schematic diagrams of additional embodiments of the apparatus according to this invention;

FIG. 14 is a block diagram of an output limiter employing the apparatus according to this invention;

FIG. 15 is a graphical illustration of the operating characteristics of the output limiter of FIG. 14; and,

FIG. 16 is a schematic diagram of yet another embodiment of the apparatus according to this invention.

DESCRIPTION OF THE PREFERRED EMBODIMENTS Referring now to the drawings, wherein like reference numerals generally designate identical or corresponding parts throughout the several views, and more particularly to FIG. 1 thereof, one embodiment of the apparatus of the present invention for controlling vehicles, which may be referred to as cars throughout the specification, is shown wherein A, designates a ground element such as a magnetic proximity switch, a plurality of which are placed at specific intervals along the track, path or roadway (not shown). Similarly, B,, designates an OR gate generating a theoretical sum output upon the reception of a signal from the ground element A and the output signal of a gate G In addition, C designates a counter wherein the counting input T is the output signal of OR gate B,, and the reset input R is the signal from the ground element A The symbol E designates an OR gate having as its inputs each output bit of the counter C and G,, designates a gate controlled by the output of the OR gate E and by the signal from the ground element A,, The output of the OR gate E, is zero after receiving the signal from the ground element A,, and the output of the OR gate E is not transmitted to the OR gate B until a new output is generated. The symbol D designates a digitalto-analog DA converter having as inputs each output bit of the counter C,,. Similarly, J, designates a differentiating circuit device operating on the rate of change of the output of the converter D and K designates a squaring circuit having its input provided from the output of the differentiating circuit 1,. In addition L designates a constant voltage device providing negative bias, while M designates an addition circuit for summing the outputs of said squaring circuit K,,, said converter D,, and said constant voltage device L The symbol P designates a square root operator for calculating the square root of the output of the addition circuit M and Q,, designates a clipper for controlling the output of the square root operator P Furthermore F designates a conductive segment on which the output voltage of the clipper Q, is impressed. A plurality of the conductive segments F,, F,,, F are respectively insulated from one another and arranged in one line along a selected track, path or roadway.

FIG. 2 shows a schematic diagram of a control system wherein l-I, designates a control device including all of the devices and circuits shown in FIG. 1 between the ground element A,, and the conductive segment F,,. The reference numeral (1) designates a car running in the direction of an arrow 2 on a track, path or roadway (not shown in drawing). The numeral 3 designates a driving device or motor in the car 1, and 4 designates a damper or brake. The numeral 5 designates a speed dynamo which generates an output proportional to the speed of the car and 6 designates a receiver such as a brush which is fitted to thefront of the car so as to respectively contact the segments F, (I 1, 2... n1, n, n+1...). The numeral 7 designates a speed controlling device for comparing the output voltage of the receiver 6 with the output voltage of the speed dynamo 5 and controlling the driving device 3 and the damper 4 so as to regulate the speed in response to the voltage from the receiver 6. The numeral 19 designates an increase and decrease speed pattern generator for controlling the speed controlling device 7 so as to keep the speed of the car in a specific speed range. The numeral 8 designates a car element, such as a metal piece fitted on the back of the car, for facing or closely approaching the ground elements A,(i l, 2...;1) respectively and (9) and (10) designate feeder or power lines, 11 and 12 designate current collectors connected to the feeder lines.

In operation of the system illustrated in FIGS. 1 and 2,.when the car 1 runs so that the car element 8 approaches and faces the ground element A,, the

ground element A,, detects the presence of the car and generates a signal indicating the passage of the car. The gate 0,, is closed by this signal and the counter C,, is also reset so that the output of the OR gate E,, is zero. Accordingly, the signal which would pass from the OR gate B,, through gate G OR gate B gate G,, to the OR gate B,, (not shown) is stopped by the closed gate G,, and the closed gate G,,.

When the car element 8 faces the ground element A due to movement of the car, the signal of the ground element A is passed through the OR gate 8,, to drive the counter, C and the gate G,, is opened by generation of an output from the counter C,, Accordingly, the signal from the ground element A,, is passed through the gate G and the OR gate B,, so as to sequentially drive the counters positioned behind the ground element A,,, Le, counters previously passed by the car. The counter C is also reset and the gate G is closed. Accordingly as the car and car element 8 progressively moves, the output of the counter C,-, corresponding to the ground element A,-, is zero, but the counters behind the counter C, respectively have an output which is progressively 1 count higher depending upon the distance behind the car. The relationship of the output of the counter is represented graphically in FIG. 3.

In FIG. 3 a forward or lead car 14, a following car 13 and a rear car 15 are shown. When the lead car 14, the following car 13 and the rear car 15 run in the direction of the arrow 16 the analogue converted value of the output of the counters located between the cars is increased depending upon the car spacing as shown by the ramp lines 17 and 18.

The differential of the output of the converter D,,, which is proportional to the distance from the forward car, is proportional to the speed of the forward car. The square of this value is applied to the addition device M The value proportional to square of the speed of the forward car, the value proportional to the car spacing and the negative bias value of the constant voltage device L are added by the adding circuit M, and the square root of this sum is obtained by the square root operator P thereby providing a value proportional to the allowable speed V of the following car, as shown in the equation l. The value of this signal is previously limited, depending upon the static road condition, by the clipper 0,, in order to limit the car speed depending upon whether the track, path or road is straight or curved.

When the car running speed signal is impressed on the conductive segment E and is transmitted to the car by the receiver 6, the signal voltage is compared with the voltageof the speed dynamo 5 and the speed of the car is controlled so the two voltages are equal. Increases and decreases in the speed of the car, especially the upper limit speed, are accurately controlled by the speed pattern generator 19.

As mentioned above, the apparatus of the present invention includes a means for detecting car spacing including the speed dynamo 5 for detecting car speed, the car element 8, the ground elements A, the counters C,, the OR gates B, and E,, the gates G, and the DA converters (D The apparatus of the present invention further includes means for detecting the speed of a forward car including the differential circuit device J and also includes means for controlling car operation including the squaring circuit K,,, the adding circuit M, and the square root operator P,,. The car spacing can be controlled relative to the car speed by this means.

Various modifications of the means described above are possible. For example, when car speed depending upon the straight or curved nature of the path, road or track is provided by a device such as program control system, or an equivalent thereof, the clipper Q, is unnecessary. In the latter case, when the device for controlling car speed is put on the car instead of in the ground instrumentation, the cost of the system can be decreased. If the clipper is eliminated, however, the output of each of the DA converters D, is directly impressed on the conductive segments P Accordingly, the differential value of the signal received by the receiver 6 on the car is used to detect the relative speed of cars, V, V The speed of the forward car (V,) can be obtained by adding said relative speed (V, V to the speed of the following car (V,).

In accordance with the apparatus of this invention, great economies, improved efficiency and a substantial reduction in labor are provided by the transportation of smaller cargoes or fewer persons to a single destination on each car in comparison with systems wherein larger cargoes or larger numbers of people are transported to different destinations on one largev car. Moreover, many cars can be moved on a track having a specific capacity to provide an economical and practical transportation system.

In accordance with the above described embodiment, the following specific exemplary figures demonstrate the advantages of the present invention over conventional systems. If, for example, the car spacing is 40 m when the forward car speed is 50 km/H and the following car speed is 60 km/l-I., the spacing car is also 40 m when the forward car speed is 10 km/I-I and the following car speed is km/l-I, in conventional systems, since the relative speed remains the same. However, in accordance with this invention, even if the relative car speed is same, the car space distance is decreased at low speeds, thereby increasing the traffic density without comprising the safety of the system. This effect can be understood by inserting the car speeds V, and V into equation 1.

As stated above, the apparatus of this invention provides an effective system for permitting high density movement of vehicles or cars so that track or roadway construction costs for handling a given traffic capacity can be minimized.

Another embodiment of the present invention, which includes means for determining the approximate value of car speed, and means for limiting differences in deceleration using the damping device in each car, is shown in FIG. 4. Before referring to FIG. 4, attention is directed to equation 2, which is a slight variation of equation 1:

wherein V is the speed of the following car (m/sec.),

' V, is the speed of the forward car (m/sec.),

L is the car spacing (m),

L, is the minimum safe distance (m),

a is the lower limit deceleration (m/sec?) and a, is the upper limit deceleration (m/sec.

The speed of the following car V can be obtained from equation 2 as follows:

When both cars run at the same speed V (m/sec.), the car spacing can be shown by substituting V, V Vin either equation 2 or 2':

L L =a, (12/2 (1 01 if i When both cars run at the same speed V, V V, the car spacing can be shown to be the same as in equation 4 using the approximate equation 3. Accordingly, the traffic capacity when the cars run at the same speed is the same in both equation 2 and the approximate equation 3. It is therefore clear that the approximate equation can be safely applied.

Particularly when there is no damping or slowing of the following car, it is safe to subtract a specific value from the right portion of both equations 2' and 3. The equation 3 can thus be modified to:

L 'L, K

(3) Instead of subtracting the constant K, the safety distance L, can be increased. In the embodiment shown in FIG. 4, the operational circuit is based on equation 3 above.

In FIG. 4 substantially all elements are as shown in FIG. 1. The OR gates E and B have been illustrated by a different symbol, but still operate in the same manner as those illustrated in FIG. 1. However the squaring circuit K of FIG. 1 has been removed, as has the square root operator P,,. In place of these circuits a square root operator K, has been added to the FIG. 4 embodiment between the DA converter D and the adding circuit M,,. In addition, another negative bias source P has been added to the square root operator K, to set the minimum safe car separation distance.

The operation of the embodiment of FIG. 4 is generally similar to that of FIG. 1, but will be fully described for purposes of clarity. When the car 1 runs so that the car element (8) approaches and faces the ground element A,,,, the ground element A,,, detects this fact and generates a signal indicating the passage of the car. The gate G,, is closed by this signal and the counter Cf, is reset to zero by the output of the OR gate E,,",.

Accordingly, the signal passing from the OR gate B,,

7 through gate G OR gate B and gate G,, to the OR gate B,, (not shown) is stopped or cut-off by the closed gates G,, and G When the car element 8 faces the ground element A', the signal of the ground element A is passed through the OR gate B,, so as to drive the counter C-,,,, and the gate G,,' is opened by generation of an output from the counter C 1. Accordingly, the signal of the ground element A is passed through the gate G,, and the OR gate B,,,, so as to continuously drive counters located to the rear of the car. The counter C is also reset and the gate G,, is closed. Thus, counters to the rear of the counter C, have outputs progressively 1 count higher, depending upon the distance from the car. The DA converter then converts the counter output to a signal proportional the distance from the lead car. The differential of this equal is proportional to the speed of the lead car. The differential signal value, the signal the value proportional to the square root of the DA output minus the minimum safe distance signal, and the negative bias value provided by the constant voltage device L, are added by the adding circuit M A value proportional to the allowable speed V of the following'car as shown in equation 3' is thus obtained. This value, as

a previously described, is limited by the clipper Q in order to regulate the car speed depending upon the straight or curved nature of the track or roadway.

Building an apparatus using the'equation 3 is quite simple and economical in comparison with building an apparatus using the equation 2. This economy is justified since the approximate value is almost the same as the value of the equation 2. Accordingly, there is no difficulty in practice in deciding the car speed using the approximate equation 3.

Another embodiment of the present invention is shown in FIG. 5. In FIG. 5, the reference numeral 1 designates a car, 3 designates a driving device or motor for the car 1 and 4 designates a damping or braking device for the car 1. The numeral 5 designates a speed dynamo or tachometer generator for the car 1 and 16 designates an amplifier while 6 designates a receiver fitted to the front of the car. The numeral 8 designates the car element, such as a metal piece fitted to the back of the car, and 12 designates a collector contacting a pair of power or feed lines 9 and 10. In FIG 5, the reference symbols A,,, B C,,, D G,,, F,,, M,, and Q, are respectively the same as in FIG. 1. The reference symbol 2,, designates a counting device for counting the number of output pulses from the ground element A and is reset by output pulses from the ground element A and is transmitted through the OR gate B depending upon the setting time of a timer TG,,. The symbol (R designates a DA converter having as an input the output of the counting device 2,, and P designates a square root operator having as its input the output of a DA converter N,,. The addition circuit M, adds the output of the DA converter R,, and the square root operator P,,. The operation of the embodiment of FIG. 5 will now be described in detail. When the car element 8 faces the ground element A,, the control gate 6,, is closed by the reception of a signal from the ground element A,, and the counter C,, is reset to a zero output while thecounting device Z, is also reset. When the car eleme'nt'8 faces the ground element A, due to movement of the car, the control gate G is closed by the reception of a signal from the ground element A, and the counter C, and the counting device Z are reset. Simultaneously, the counter C and the counting device Z,, are driven by the signal passing through the OR gate B,,. The control gate G,, is opened by the signal emanating from the counter C,, Counters to the rear of the car are consequently driven by the signal passing the OR gate 8,, the control gate G,, and the OR gate B,,.,. As the car element (8) is progressively moved, the output of the counter C,, corresponding to the ground element A is zero. The counters to the rear of the counter C respectively have outputs progressively 1 count higher depending upon the distance behind the car.-The output of the counter C is converted to an analog voltage by the DA converter N and this voltage corresponds to the distance from the forward or lead car.

In addition, the timer TG,, is actuated at the same I time, feeding'a signal to the counting device Z whereby the input of the counting device Z, is opened during the set time of the timer TG,, The input of the counting device Z,, is same as the input of the counter C,, and is fed through the OR gate B,,. When the car element 8 is moved so as to progressively face the ground elements A,,, A the value stored in the counter is increased at the rate of I count for each ground element during the set time of the timer TG,, The output of the counting device Z,,, operating during the set time of the timer TG,,, is converted to an analog voltage by the DA converter R and this voltage corresponds to the speed of the forward or lead car. The square root of the output of the DA converter N is calculated by the square root operator P The resulting value is added to the output of the DA converter R, by the adding circuit M,,, thereby summing the square root of the value corresponding to the car spacing and the value of car speed. This sum is passed through the clipper 0,, to the conductive segment F The receiver 6 of the car 1 contacts the conductive segment F,, and receives a voltage corresponding to the distance from the forward or lead car and the speed of the forward car. This voltage is fed through the amplifier 16 to the driving device 3 so as to control the device 3. The output voltage of the speed dynamo or tachometer generator 5 is fed back to the input of the amplifier 16 to provide feed-back control. The driving device 3 is thus controlled to regulate the car speed corresponding to the voltage impressed on the conductive segment.

In the present embodiment, the car speed is limited by the clipper. It is possible to control the car speed limit by using other devices, such as a program control ler, as described above. In the present embodiment, the car element may be constructed of a metal piece, and the ground element of a magnetic proximity switch. Alternatively, a pair of photoelectric switches may be employed instead of the magnetic proximity switch. The car element may then be a shutter plate. In both cases, the car itself can serve as the car element.

The information regarding the speed of the forward car may also be obtained by employing a device for storing the value of the output of the counter 2,, during the specific set time of the timer without employing a counter for detecting the speed of the forward car.

As stated above, in accordance with this invention, a car spacing control system using information as to the distance to a forward or lead car as wellas the information as to the speed of the forward car is provided, whereby the dense movement of cars can be attained.

In order to obtain the information as to the speed of the forward car, an output corresponding to the car spacing is utilized without directly obtaining information as to the speed of the forward car. Accordingly, it is unnecessary to employ a device for transmitting information as to the speed of the forward car, whereby the apparatus of the present invention can be simplitied.

Another embodiment of the present invention shown in FIG. 6 which further comprises an oscillator for generating a constant periodic signal having a period shorter than that of the car passing signal generated by the ground elements. A counter for repeatedly counting the signals from the oscillator during the time of each car passing signal is also provided. A memory device is included for storing maximum counts of the counter.

Referring now to FIG. 6, the reference numeral 21 designates an oscillator and 1,, designates a counting device for count-controlling the output of the oscillator 21 using an output pulse from the ground element A The symbol S, designates a memory device, which is controlled by an output pulse from the ground element A for storing the output of the counting device I,,. The DA converter R,, receives its input from the output of the memory device S The symbol T, designates an inverter, and the remaining components are the'same as in FIG. 5.

The operation of the embodiment of FIG. 6 will now be described in detail. As previously stated, when the car element 8 faces the ground element A,, the control gate 6,, is closed by the reception of a signal from the ground element A,,.,, and the counter C,, is reset to zero. When the car element 8 faces the ground element A, as the car moves, the control gate G is closed by the reception of a signal from the ground element A the counter C, is reset to zero, and simultaneously the counter C,, is driven by the signal passing through the OR gate B,,. Accordingly, the control gate G,, is opened by the signal generated by the counter C,, and counters to the rear of the car are consequently driven by the signal passing through the OR gate B the control gate G,, and the OR gate B,, As the car element 8 progressively moves, the output of the counter C, corresponding to the ground element A is zero. The counters to the rear of the counter C respectively have outputs progressively 1 count higher depending upon the distance behind the car.

The output of the counter C is converted to an ana log voltage by the DA converter N and this voltage corresponds to the distance to the car. The ground elements A, are placed at specific intervals, and each ground element generates an output pulse corresponding to the passing of each car element 8. This output pulse has a duration which is proportional to the speed of the car. The oscillator 21 then generates a constant periodic pulse signal having a period shorter than that of the output pulse. The number of pulses generated by the oscillator 21 during the duration of the output pulse from the ground element A varies depending upon the speed of the car 1. The number of pulses from the oscillator 21 can thus be used to provide car speed information.

The signal of the ground element A is also transmitted to the counting device 1,, and to the memory device S, whereby the output of the oscillator 21 driving the counting device (I,,') is stopped for a while, and the memory device S stores the maximum count of the counting device I,,. The memory output is transmitted to the DA converter R,, while the counting device I,, is reset and the output of the oscillator 21 is again applied as the input of the counting device I, whereby the counting cycle is again initiated. The output of the memeory device S, fed to the DA converter R is converted to an analog voltage and then inverted by the inverter T,,, whereby the resulting voltage corresponds to the car speed. The square root of the output of the DA converter N is calculated by the square root operator P, and this value is added to the output of the inverter T, by the adding circuit M,,. The resulting value is the sum of the square root of the value of the car spacing information and the car speed information. This signal is passed through the clipper Q to the conductive segment F,,. This voltage is then used to control the car, as previously described.

Thus in accordance with the present embodiment of this invention, a car spacing control system is provided which considers information as to the distance to the forward or lead car as well as informationas to the speed of the forward or lead car, whereby the dense movement of cars can be attained.

In order to obtain information as to the speed of the forward car, an output corresponding to the car spacing is utilized without directly obtaining information concerning the speed of the forward car. Accordingly, it is unnecessary to employ a device for transmitting speed information, whereby the apparatus can be simplified.

Another embodiment of the present invention is shown in FIGS. 7, 8 and 9 wherein the car speed instructions are provided corresponding to the digital values stored in the counters placed in series along the track or roadway.

Referring now to FIG. 7, a schematic block diagram of this embodiment of the invention is shown, wherein the reference A again designates a ground element such as a proximity switch, G again designates a gate circuit for transmitting the signal of an OR gate E to the OR gate E,,. The gate 6,, is opened by a signal from the ground element A and is closed by the signal from a decoder DD A reset signal is generated by the counter C opening the gate 6,. The reference N designates a D-A converter for generating an analog voltage corresponding to the output of the counter C and F again designates a conductive segment. The reference T designates the counting input of the counter C,,.

FIG. 8 is a schematic diagram of the control system employing the apparatus of FIG. 7. In FIG. 8, the reference numeral 1 designates a car running in the direction of an arrow 2 and 20 designates a control device which controls a driving device or motor 3 by comparing output of a car speed detector 23 with the output of a receiver 6 which contacts the conductive segments F as the car runs. The numeral 8 designates a car element fitted on the car which faces the ground elements.

erence numeral 24 designates a graphical representation of the distribution of signals on theconductive segment F generated by the forward car 14 and 25 designates a graphical representation of the distribution of signals on the conductive segment F generated by the following car 13 I In operation, when the car 1 runs so as to face the car element 8 to the ground element A,,, the ground element generates a car passing signal. The gate circuit 6,, is closed by this signal, and the counter C,, is reset to zero. The gate circuit G,, is opened by the output of the decoder DD,, to open the gate circuit G,, and the output thereof is transmitted to the counter C,, not shown in drawing. When the car 1 moves in the direction of the arrow 2 so as to face the car element 8 to the ground element A,, the gate circuit G, is closed as described above, whereby the counter C is reset and the gate circuit 6,, is opened by the decoder DD while the counter C,, is activated through the OR gate E,,.

These operations are repeated progressively, and the car passing information generated by the passing cars is counted by the counters C,,'- and C through the gate circuits G,, and G,, and the OR gates E,, and E The output voltage corresponding to the digital output of the counter C is transmitted to the conductive segment through the DA converter N,,, and the car speed is received by the receiver 6 contacting the conductive segment. The driving device 3 is then controlled by the control device 20 through a comparison of the car speed signal with the output of the car speed detector 23, whereby the car speed is controlled.

As noted above, the graph in FIG. 9 shows the relationship among the cars and the distribution of signal potential on the conductive segments. The value of the counter C immediately after the car passes is zero, and is then progressively increased depending on the distance from the car. A signal representing the speed of the running cars is impressed to the conductive segments, and this signal is transmitted to the cars by the receiver, thereby controlling the cars. If the contact between the receiver and the conductive segments should accidentally be broken, the car speed instruction voltage becomes zero, so as to stop the car. If a certain ground element fails to generate a car passing signal, the speed of cars to the rear is gradually reduced until they stop. Thus, a completely fail-safe system can be constructed using the simple circuits described above.

If the outputsignal of the D-A converter N, is differentiated, the speed of the forward car is easily detected. If this differential signal value is impressed on the conductive segments, cars behind the lead car can run at a speed corresponding to the speed of the lead car, and at a proper spacing distance, whereby the high traffic density may be attained. Another embodiments of the present invention is shown in FIG. 10 wherein the speed of the forward car is determined by differentiation of the car spacing signal.

In FIG. 10, the reference numeral 30 designates a power line carrying a reference voltage V,, (M,,) (n l, 2, 3 n) designates an adding circuit, AR,, designates an addition resistance for adding in the reference voltage V,,.'The symbol AR,, designates an addition resistance for adding the output of a forward adding circuit to a' rearward adding circuit, and A designates the usual ground element. The symbol FF, designates a flip-flop which is set by the output of the ground element A and is reset when a forward flip-flop is set. The reference J,, designates a differentiation circuit for dif ferentiating the output value of the adding circuit M,, while 0,, designates an operational device for providing a car speed instruction which is a function corresponding to the output of the adding circuit M,, and the output of the differentiation circuit J,,. The reference F,, designates. the -usual'conductive segments for transmitting the output of the operational device 0,, to the car. Thereference 22 desginates a brush or receiver contacting the conductive segment F andl designates a car while designates a controller which compares the reception signal of the brush 22 with the output of the car speed detector 23 whereby the motor 3 is driven. Similarly 11 designates a collector for coupling the car to the power line 30 and 2 designates the arrow line showing the forward direction of the car.

In this system, when the car element 8 faces the ground element A by movement of the car, the flipflop FF is set by the output of the car element A whereby the flip-flop FF,, which was set, is reset and the output of the adding circuit M is shorted to earth potential. Accordingly, the input of the adding circuit M,, is only the reference voltage V,, whereby the output of this adding circuit is V,. The input of the adding circuit M,, is the output V of the adding circuit 'M,, plus thereference voltage V whereby the output thereof is 2V,. Thus, the output of an adding circuit placed n zones from the ground element where the car is positioned is nV,, whereby an output voltage corresponding to the distance from the car is produced. However, since the car 1 is progressively moved, the speed of the car can be obtained by differentiating the output corresponding to the distance.

In accordance with the above-mentioned principle, the adding circuit M,, generates an output corresponding to the distance from the forward car (not shown in drawi g), since the flip-flop FF,, is in the reset condition. The operational device O,, provides a car speed instruction voltage corresponding to the car spacing and to the output of the differentiation circuit 1,, (the speed of the forward car) to the conductive segment F,, The car 1 receives the car speed instruction voltage through the brush 22, whereby the motor 3 is controlled by comparing its output with the output of the car speed detector 23, and the car speed is set at the desired value.

The proper speed function for following cars is determined from consideration of the following equations:

V Va V, ,B(L L (ideal function) V K,V, K V (L L (approximate function) V K, V K, (L L (simplified approximate function),

wherein K K K and K are respectively constant. Any one of these three equations can be. applied for the preliminary purpose of determining V as a function of .V and L L Various alternatives of the above described system are possible. For example, it is possible'to determine the car spacing as a digital signal instead of an analogue signal. Furthermore, a non-contacting device such as a loop-antenna can be used instead of the brush receiver described above. In this case, the car speed informaplied to the segments F F,,, F,, I to distance from-the lead car. When the car element 8 tion is transmitted using frequency discrimination. It is also possible to provide a differentiation device and an operator on the car for generating a speed signal. In this case, a signal corresponding to the relative car speed is differentiated. Accordingly, the speed of the forward car can be obtained by adding to the relative speed the speed of the following car. In this embodiment, the speed of the following car is determined by detecting the distance from the forward car using either a digital or an analogue system and differentiating distance sig nal with respect to time so as to detect the speed of the forward car, the determining speed of the following car depending upon both specific functional values. It is thus possible to attain high traffic densities without using a detector for measuring the speed of the lead or forward car, and without need for transmitting such information.

A further embodiment of the present invention shown in FIG. 11 which is similar to the embodiment of FIG. except for the addition of devices for wheel slip and providing emergency braking. In the embodiment of FIG. 11, wheel slip is detected by a simple means so as to control emergency brakes, such as shoebrakes, which is directly actuated between the car and the rail track or roadway by catching a guide rail, whereby reduction in vehicle speed is increased above normal, to improve the safety of high density traffic movement. i

In FIG. 11, the reference numeral 1 designates a car, 26 designates a differentiating device, 16 designates an amplifier and 3 designates a driving device or motor. Similarly, 5 designates a speed dynamo or tachometer generator, 27 designates the usual brake while 29 designates a comparison device and 28 designates an emergency brake. The numeral 6 designates a receiver, 8 designates a car element while 9 designates a feed or power line and 11 designates a collector contacting to the feed line 9. Furthermore, A,,%,, A,,, A,, designate the usual ground elements, G,, G,,, G,, designate gates for passing or stopping outputs of various adding circuits in response to signals from the ground elements A A The symbols M M,,, M,, designate adding circuits for generating outputs corresponding to the distance from the forward or lead car and (AR',, (AR',,), (AR',, designate addition resistors by which the output of each adding circuit is applied as an input to the next stage, while AR AR,,, AR,, designate addition resistors through which the constant or reference voltage on the line 33 is applied as an input to the adding circuits. The symbols F F,,, F,,.,. designate the usual insulated conduc tive segments to which the outputs of the adding circuits M M,,, M,, are applied.

In operation an output voltage proportional to the distance from the forward car is impressed on the conductive segment F,,. and the voltage of this segment is received by the receiver 6 and fed to the driving device 3 through the amplifier 16. The driving device or motor 3 is thus driven, and the car is moved under feed-back control by the output voltage of the speed dynamo. As previously described with reference to FIG. 10, integral multiples of the constant voltage on the line 33 are apcorresponding and the output of the adding circuit M is zero. Simultaneously, the gate G which was closed by the car element 8 facing the ground element A is opened whereby an output voltage corresponding to the dis tance from the lead to the following car is generated in the adding circuits. The power or regenerative control of the driving device 3 is provided by the amplifier 16 depending upon the difference between the output of the speed dynamo 5 and the value of specific speed signal from the receiver 6. At the low speeds providing less regenerative control, the usual brake 27 is alone used to control the car speed so as to have substantially the same deviation as the running speed increases beyond a prescribed threshold, activated by appropriate circuitry. Accordingly, if a following car approaches a forward car with slipping or locked wheels, for example, even though the usual damping or braking device is actuated and in normal condition, an output is produced by the differentiating device 26 in spite of a zero output from the speed dynamo, whereby the emergency brake 28 is actuated to prevent a rear-end collision. In this embodiment, the usual voltage corresponding to the car spacing distance is impressed on the conductive segments. However, it is also possible to impress a voltage corresponding to a combination of the forward car speed and the car spacing. The voltage corresponding to the car spacing is provided to the receiver through contact with the conductive segments. Alternatively, it is possible to transmit the car spacing information using a non-contact system, employing a loopantenna for example.

In the illustrated embodiment, the main electric power is supplied through the power line 9, however it is also possible to use battery power or conventional fuel powered engine as a driving source.

In accordance with this embodiment of the invention, reducing the speed of car may be substantially increased to improve the safety of high density traffic movement. Wheel slip can easily be detected by differentiating the output of the speed dynamo.

Yet another embodiment of the present invention is shown in FIG. 12 wherein a device is provided to control the car spacing or the stopping distance. In general, the stopping distance is proportional to square of car speed, provided that the braking or deceleration is contstant. In order to stop a car at a specific position, it is necessary to move the car at a speed proportional to square root of the distance from its actual position to the desired stopping position. When a plurality of cars are running on one line, it is necessary to move the cars at a speed proportional to square root of the sum of the speed of the forward or lead car and the distance to the lead car.

Referring now to FIG. 12, the reference numeral (30) designates a power line supplying the reference voltage V, and AR designates the addition resistor for adding in the reference voltage V, while AR designates an addition resistor for adding the output of the forward adding circuit M to the following addition device M,, and y designates an addition resistor for adding in the voltage on the conductive segment F The symbol FF, designates a flip-flop in which the output of the corresponding addition resistor AR, is short circuited to earth potential and simultaneously the rearward flip-flop FF,, is reset, while the output of the corresponding addition resistor AR is open circuited due to the reset condition. 

1. An apparatus for controlling a vehicle comprising: distance measuring means for measuring the distance between a lead vehicle and a following vehicle and for generating a signal proportional to said distance; speed measuring means for measuring the speed of said lead vehicle and for generating a signal proportional to said speed; circuit means for producing an output signal means for providing an output signal proportional to the square root of the sum of said signal proportional to said distance and the square of said signal proportional to said speed; and, control means for controlling said vehicle in response to said output signal from said circuit means wherein said speed measuring means comprises: a moving element coupled to said vehicle; a plurality of ground elements spaced a predetermined distance apart for generating vehicle passing signals as said moving element passes each of said ground elements; oscillator means for generating a periodic output signal having a period shorter than that of said vehicle passing signals; counting means for repeatedly counting said oscillator output during the presence of said vehicle passing signal; and memory means for storing the maximum counts accumulated in said counting means.
 2. An apparatus for controlling a vehicle as in claim 1, wherein said speed measuring means comprises: a moving element coupled to said vehicle; a plurality of spaced ground elements for generating vehicle passing signals as said moving element passes each of said ground elements; counting means for counting said vehicle passing signals; and, limiting means for limiting the counting interval of said counting means.
 3. An apparatus for controlling a vehicle comprising: distance measuring means for measuring the distance between a lead vehicle and a following vehicle and for generating a signal proportional to said distance; speed measuring means for measuring the speed of said lead vehicle and for generating a signal proportional to said speed; circuit means for providing a signal proportional to the square root of said signal proportional to said distance; and further providing a signal proportional to the sum of said signal proportional to said speed and said signal proportional to said square root; control means for controlling said vehicle in response to said output signal from said circuit means; wherein said speed measuring means comprises a moving element coupled to said vehicle; a plurality of ground elements spaced a predetermined distance apart for generating vehicle passing signals as said moving element passes each of said ground elements; oscillator means for generating a periodic output signal having a period shorter than that of said vehicle passing signal; counting means for repeatedly counting said oscillator output during the presence of said vehicle passing signal; and memory means for storing the maximum counts accumulated in said counting means.
 4. An apparatus for controlling a vehicle as in claim 3, wherein said speed measuring means comprises: a moving element coupled to said vehicle; a plurality of ground elements placed specific distances apart for generating vehicle passing signals as said moving element passes each of said ground elements; counting means for counting said vehicle passing signals; and, limiting means for limiting the counting interval of said counting means.
 5. A system for controlling vehicles comprising: speed measuring means for measuring the speed of a vehicle and for generating a signal proportional to said speed; distance measuring means for measuring the separation between said vehicle and a lead vehicle and for generating a signal proportional to said separation; operator means for generating a control signal in response to said signals proportional to said speed and said separation; a reference voltage source; adding circuit means coupled to said reference voltage source for developing an output signal proportional to an integral multiple of said reference voltage; a plurality of individually insulative conductive segments carrying a signal for controlling said vehicle; receiver means carried by said vehicle for detecting said signal carried by said conductive segments; means coupled to said vehicle for generating a signal which is proportional to the square of said vehicle speed; and transmitting means for transmitting said signal proportional to the square of said vehicle speed to said conductive segments.
 6. A system for controlling vehicles as in claim 5, further comprising: a plurality of spaced ground elements for detecting the passage of vehicles; a plurality of counters associated with said plurality of ground elements for counting the outputs thereof; a plurality of series connected gate circuit means controlled by the outputs of said ground elements; vehicle speed setting circuit means for setting the speed of said vehicle corresponding to the outputs of said counters; and, means for transmitting the output of said vehicle speed setting circuit means to said vehicle.
 7. A system for controlling vehicles as in claim 5, further comprising: a fixed, ground mounted structure; emergency braking means coupled to said vehicle, said emergency braking means acting directly between said vehicle and said fixed, ground mounted structure; and, brake control means for controlling the actuation of said emergency braking means, said brake control means including means for differentiating said signal proportional to said separation, and means for comparing said differentiated signal with said signal proportional to said speed.
 8. A system for controlling vehicles as in claim 5, wherein: said means for generating a signal which is proportional to the square of said vehicle speed comprises a motor, and said speed measuring means provides the field input power for said motor.
 9. A system for controlling vehicles as in claim 5, further comprising: limiting means for limiting the output of said operator means, whereby the speed of said vehicle is limited to a preset maximum value.
 10. A system for controlling vehicles as in claim 5, wherein: said operator means comprises a plurality of control devices for controlling a plurality of vehicles; and further comprising communication means for communicating speed regulating signals among said vehicles.
 11. A system for controlling vehicles as in claim 5, wherein: said speed measuring means includes differentiating means for detecting and for generating an output signal proportional to changes in said signal proportional to said separation.
 12. A system for controlling vehicles aS in claim 11, further comprising: a reference voltage source; adding circuit means coupled to said source for developing an output signal proportional to an integral multiple of said reference voltage; a plurality of conductive segments, each insulated from the others, and arranged along a prescribed path; and wherein said operator means generates said control signal in response to said output signals of said differentiating means and said adding circuit means, and said control signal is applied to said conductive segments. 